电机转向（Motor steering）.doc

电机转向（Motor steering） LED Black is 1 Light is 0 Left1=P0^0 / second lights; Left2=P0^1; / / the first light Right1=P0^2 / third lights; Right2=P0^3 / fourth lights; LN1=1; LN2=0; / / left motor. LN1=0; LN2=1; / / left motor reversal RN3=1; RN4=0; / / the right motor is transferred RN3=0; RN4=1; / / the right motor reversal LN1=1; LN2=0; RN3=1; RN4=0; / / motor is transferred LN1=0; LN2=1; RN3=0; RN4=1; / / motor reversal LN1=1; LN2=0; RN3=0; RN4=1; turn right (left / right motor reversal motor story) LN1=0; LN2=1; RN3=1; RN4=0; / / turn left (right and left motor forward reverse motor) #includereg52.h #includeintrins.h #define uint unsigned int #define uchar unsigned char #define state P0 #define _NOP () _nop_ () Sbit left1=P0^0; Sbit left2=P0^1; Sbit right1=P0^2; Sbit right2=P0^3; Sbit lN1=P2^0; Sbit lN2=P2^1; Sbit rN3=P2^2; Sbit rN4=P2^3; Void, delay_882us () { Uint i; I=110; While (--i); } Void, delay_1000us () { Uint i; I=125; While (--i); } Void, delay_2400us () { Uint i; I=300; While (--i); } Void delay_1ms (uchar x) { Int i; While (x--) { For (i=0; i125; i++) {}; } } / / delay Void PWM_T (uchar T) {uint, I, J, k; For (i=t; i0; i--) {for (k=0; k2; k++) {}; } For (j=100-t; j0; j--) {for (k=0; k2; k++) {}; } } / / duty ratio Void (go_straight_all) / / go straight at full speed (past) 11 { LN1=0; LN2=1; RN3=1; RN4=0; Delay_1ms (10); } Void go_back_all () //2 2 { LN1=1; LN2=0; RN3=0; RN4=1; Delay_1ms (10); } Void stop_00 () //3 3 { LN1=1; LN2=1; RN3=1; RN4=1; Delay_1ms (10); } Void (turn_right1) / right turn left, the motor is transferred, the right motor reversal //4 4 { LN1=0; LN2=1; RN3=0; RN4=1; PWM_T (40); } Void turn_right2 () //5 4 { LN1=0; LN2=1; RN3=0; RN4=1; PWM_T (80); } Void turn_right3 () //6 4 { LN1=0; LN2=1; RN3=0; RN4=1; PWM _ t (60); } Void turn _ left1 () / / 左转: 右电机正转, 左电机反转 / 7 5 { Ln1 = 1; LN2 = 0; RN3 = 1; RN4 = 0; PWM _ t (40); } Void turn _ left2 () / / 8 5 { Ln1 = 1; LN2 = 0; RN3 = 1; RN4 = 0; PWM _ t (80); } Void turn _ left3 () / / 9 5 {